Combined trajectory tracking and path following: an application to the coordinated control of autonomous marine craft

Pedro Encarnação*, Antonio Pascoal

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

154 Citations (Scopus)

Abstract

The paper presents a solution to the problem of combined trajectory tracking and path following system design for autonomous marine craft. This problem is motivated by the practical need to develop control systems for marine craft that can yield good trajectory tracking performance while keeping some of the desired properties normally associated with path following. The solution described builds on and extends previous work by Hindman and Hauser on so-called maneuver modified trajectory tracking. An application is made to the problem of designing a control system for the coordinated operation of an autonomous surface craft (ASC) and an autonomous underwater vehicle (AUV). Simulations with nonlinear models of an underactuated marine craft and a fully actuated underwater vehicle illustrate the performance of the control system derived.
Original languageEnglish
Pages (from-to)964-969
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume1
Publication statusPublished - 2001
Externally publishedYes
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: 4 Dec 20014 Dec 2001

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